| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/contact-control-gravity.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 12 | 14 | 85.7% |
| Branches: | 9 | 28 | 32.1% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/residual-base.hpp" | ||
| 14 | #include "crocoddyl/multibody/data/contacts.hpp" | ||
| 15 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | |||
| 19 | /** | ||
| 20 | * @brief Control gravity residual under contact | ||
| 21 | * | ||
| 22 | * This residual function is defined as | ||
| 23 | * \f$\mathbf{r}=\mathbf{u}-(\mathbf{g}(\mathbf{q}) - \sum | ||
| 24 | * \mathbf{J}_c(\mathbf{q})^{\top} \mathbf{f}_c)\f$, where | ||
| 25 | * \f$\mathbf{u}\in~\mathbb{R}^{nu}\f$ is the current control input, | ||
| 26 | * \f$\mathbf{J}_c(\mathbf{q})\f$ is the contact Jacobians, \f$\mathbf{f}_c\f$ | ||
| 27 | * contains the contact forces, \f$\mathbf{g}(\mathbf{q})\f$ is the gravity | ||
| 28 | * torque corresponding to the current configuration, | ||
| 29 | * \f$\mathbf{q}\in~\mathbb{R}^{nq}\f$ is the current position joints input. | ||
| 30 | * Note that the dimension of the residual vector is obtained from | ||
| 31 | * `state->get_nv()`. | ||
| 32 | * | ||
| 33 | * As described in `ResidualModelAbstractTpl()`, the residual value and its | ||
| 34 | * Jacobians are calculated by `calc()` and `calcDiff()`, respectively. | ||
| 35 | * | ||
| 36 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 37 | */ | ||
| 38 | template <typename _Scalar> | ||
| 39 | class ResidualModelContactControlGravTpl | ||
| 40 | : public ResidualModelAbstractTpl<_Scalar> { | ||
| 41 | public: | ||
| 42 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 43 | ✗ | CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelContactControlGravTpl) | |
| 44 | |||
| 45 | typedef _Scalar Scalar; | ||
| 46 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 47 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 48 | typedef ResidualDataContactControlGravTpl<Scalar> Data; | ||
| 49 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 50 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 51 | typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract; | ||
| 52 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 53 | typedef typename MathBase::VectorXs VectorXs; | ||
| 54 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 55 | |||
| 56 | /** | ||
| 57 | * @brief Initialize the contact control gravity contact residual model | ||
| 58 | * | ||
| 59 | * @param[in] state State of the multibody system | ||
| 60 | * @param[in] nu Dimension of the control vector | ||
| 61 | */ | ||
| 62 | ResidualModelContactControlGravTpl(std::shared_ptr<StateMultibody> state, | ||
| 63 | const std::size_t nu); | ||
| 64 | |||
| 65 | /** | ||
| 66 | * @brief Initialize the contact control gravity contact residual model | ||
| 67 | * | ||
| 68 | * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. | ||
| 69 | * | ||
| 70 | * @param[in] state State of the multibody system | ||
| 71 | */ | ||
| 72 | explicit ResidualModelContactControlGravTpl( | ||
| 73 | std::shared_ptr<StateMultibody> state); | ||
| 74 | 84 | virtual ~ResidualModelContactControlGravTpl() = default; | |
| 75 | |||
| 76 | /** | ||
| 77 | * @brief Compute the contact control gravity contact residual | ||
| 78 | * | ||
| 79 | * @param[in] data Contact control gravity residual data | ||
| 80 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 81 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 82 | */ | ||
| 83 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 84 | const Eigen::Ref<const VectorXs>& x, | ||
| 85 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 86 | |||
| 87 | /** | ||
| 88 | * @brief Compute the residual vector for nodes that depends only on the state | ||
| 89 | * | ||
| 90 | * It updates the residual vector based on the state only (i.e., it ignores | ||
| 91 | * the contact forces). This function is used in the terminal nodes of an | ||
| 92 | * optimal control problem. | ||
| 93 | * | ||
| 94 | * @param[in] data Residual data | ||
| 95 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 96 | */ | ||
| 97 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 98 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 99 | |||
| 100 | /** | ||
| 101 | * @brief Compute the Jacobians of the contact control gravity contact | ||
| 102 | * residual | ||
| 103 | * | ||
| 104 | * @param[in] data Contact control gravity residual data | ||
| 105 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 106 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 107 | */ | ||
| 108 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 109 | const Eigen::Ref<const VectorXs>& x, | ||
| 110 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 111 | |||
| 112 | /** | ||
| 113 | * @brief Compute the Jacobian of the residual functions with respect to the | ||
| 114 | * state only | ||
| 115 | * | ||
| 116 | * It updates the Jacobian of the residual function based on the state only | ||
| 117 | * (i.e., it ignores the contact forces). This function is used in the | ||
| 118 | * terminal nodes of an optimal control problem. | ||
| 119 | * | ||
| 120 | * @param[in] data Residual data | ||
| 121 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 122 | */ | ||
| 123 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 124 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 125 | |||
| 126 | /** | ||
| 127 | * @brief Create the contact-control-gravity residual data | ||
| 128 | */ | ||
| 129 | virtual std::shared_ptr<ResidualDataAbstract> createData( | ||
| 130 | DataCollectorAbstract* const data) override; | ||
| 131 | |||
| 132 | /** | ||
| 133 | * @brief Cast the contact-control-gravity residual model to a different | ||
| 134 | * scalar type. | ||
| 135 | * | ||
| 136 | * It is useful for operations requiring different precision or scalar types. | ||
| 137 | * | ||
| 138 | * @tparam NewScalar The new scalar type to cast to. | ||
| 139 | * @return ResidualModelContactControlGravTpl<NewScalar> A residual model with | ||
| 140 | * the new scalar type. | ||
| 141 | */ | ||
| 142 | template <typename NewScalar> | ||
| 143 | ResidualModelContactControlGravTpl<NewScalar> cast() const; | ||
| 144 | |||
| 145 | /** | ||
| 146 | * @brief Print relevant information of the contact-control-grav residual | ||
| 147 | * | ||
| 148 | * @param[out] os Output stream object | ||
| 149 | */ | ||
| 150 | virtual void print(std::ostream& os) const override; | ||
| 151 | |||
| 152 | protected: | ||
| 153 | using Base::nu_; | ||
| 154 | using Base::state_; | ||
| 155 | using Base::v_dependent_; | ||
| 156 | |||
| 157 | private: | ||
| 158 | typename StateMultibody::PinocchioModel pin_model_; | ||
| 159 | }; | ||
| 160 | |||
| 161 | template <typename _Scalar> | ||
| 162 | struct ResidualDataContactControlGravTpl | ||
| 163 | : public ResidualDataAbstractTpl<_Scalar> { | ||
| 164 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 165 | |||
| 166 | typedef _Scalar Scalar; | ||
| 167 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 168 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 169 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 170 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 171 | typedef pinocchio::DataTpl<Scalar> PinocchioData; | ||
| 172 | |||
| 173 | template <template <typename Scalar> class Model> | ||
| 174 | 2776 | ResidualDataContactControlGravTpl(Model<Scalar>* const model, | |
| 175 | DataCollectorAbstract* const data) | ||
| 176 |
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2776 | : Base(model, data) { |
| 177 |
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2776 | StateMultibody* sm = static_cast<StateMultibody*>(model->get_state().get()); |
| 178 |
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2776 | pinocchio = PinocchioData(*(sm->get_pinocchio().get())); |
| 179 | |||
| 180 | // Check that proper shared data has been passed | ||
| 181 | 2776 | DataCollectorActMultibodyInContactTpl<Scalar>* d = | |
| 182 |
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2776 | dynamic_cast<DataCollectorActMultibodyInContactTpl<Scalar>*>(shared); |
| 183 |
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2776 | if (d == NULL) { |
| 184 | ✗ | throw_pretty( | |
| 185 | "Invalid argument: the shared data should be derived from " | ||
| 186 | "DataCollectorActMultibodyInContactTpl"); | ||
| 187 | } | ||
| 188 | // Avoids data casting at runtime | ||
| 189 | // pinocchio = d->pinocchio; | ||
| 190 |
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2776 | fext = d->contacts->fext; |
| 191 | 2776 | actuation = d->actuation; | |
| 192 | 2776 | } | |
| 193 | 5548 | virtual ~ResidualDataContactControlGravTpl() = default; | |
| 194 | |||
| 195 | PinocchioData pinocchio; //!< Pinocchio data | ||
| 196 | std::shared_ptr<ActuationDataAbstractTpl<Scalar> > | ||
| 197 | actuation; //!< Actuation data | ||
| 198 | pinocchio::container::aligned_vector<pinocchio::ForceTpl<Scalar> > | ||
| 199 | fext; //!< External spatial forces | ||
| 200 | using Base::r; | ||
| 201 | using Base::Ru; | ||
| 202 | using Base::Rx; | ||
| 203 | using Base::shared; | ||
| 204 | }; | ||
| 205 | |||
| 206 | } // namespace crocoddyl | ||
| 207 | |||
| 208 | /* --- Details -------------------------------------------------------------- */ | ||
| 209 | /* --- Details -------------------------------------------------------------- */ | ||
| 210 | /* --- Details -------------------------------------------------------------- */ | ||
| 211 | #include "crocoddyl/multibody/residuals/contact-control-gravity.hxx" | ||
| 212 | |||
| 213 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( | ||
| 214 | crocoddyl::ResidualModelContactControlGravTpl) | ||
| 215 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 216 | crocoddyl::ResidualDataContactControlGravTpl) | ||
| 217 | |||
| 218 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTACT_CONTROL_GRAVITY_HPP_ | ||
| 219 |